6-38 Writing the User Program ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
The system variables V030 to V039 are not monitored for overflow
The following values should not be exceeded
for length measurement: ±214748 or ± 11796479 for Encoder 3
for time measurement: ±99999999
The program continues after the time period of one cycle.
HOM - Home Axis
Axis 1
This command produces an absolute measurement reference. What
occurs basically corresponds to homing in Manual Mode. To accomplish
this, Parameters C009 through C012 must be programmed accordingly.
This command is not needed when the position is detected using multi-
turn encoders, since they already generate an absolute measurement
reference.
In ’rotary’ motion type, (see Parameter A100), this command is not
permitted.
In both cases, the error message "F- 02 17 – HOM not allowed" is
issued.
During homing, make sure that no command is processed which
executes a drive motion.
A query within the program to determine whether homing has been
successfully completed is accomplished by polling the ‘Homed’ bit in
Parameter C010.
Note: In general, completion of the homing routine following each
'HOM' command should be verified using an 'AKN' command.
Example:
Entry in Parameter C010 = 00.00.0 M2.02.0 00
0011 HOM 1 - Home Axis 1
0012 AKN M2.02.0 1 - Wait until homing is completed
0013 POA 1 +000010.000 999 - Positioning, Absolute
A detailed description of the homing function is provided in Section 8.3.
The program proceeds to the next instruction following the time period of
one cycle.
HOM 1
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